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-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs163
1 files changed, 77 insertions, 86 deletions
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
index f51016c..c0b73bc 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -178,7 +178,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
178// const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; 178// const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
179 179
180 const d.ContactFlags comumContactFlags = d.ContactFlags.Bounce | d.ContactFlags.Approx1 | d.ContactFlags.Slip1 | d.ContactFlags.Slip2; 180 const d.ContactFlags comumContactFlags = d.ContactFlags.Bounce | d.ContactFlags.Approx1 | d.ContactFlags.Slip1 | d.ContactFlags.Slip2;
181 const float comumContactERP = 0.7f; 181 const float comumContactERP = 0.75f;
182 const float comumContactCFM = 0.0001f; 182 const float comumContactCFM = 0.0001f;
183 const float comumContactSLIP = 0f; 183 const float comumContactSLIP = 0f;
184 184
@@ -211,16 +211,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
211 private float waterlevel = 0f; 211 private float waterlevel = 0f;
212 private int framecount = 0; 212 private int framecount = 0;
213 213
214// private int m_meshExpireCntr;
215
216 private float avDensity = 80f; 214 private float avDensity = 80f;
217 private float avMovementDivisorWalk = 1.3f; 215 private float avMovementDivisorWalk = 1.3f;
218 private float avMovementDivisorRun = 0.8f; 216 private float avMovementDivisorRun = 0.8f;
219 private float minimumGroundFlightOffset = 3f; 217 private float minimumGroundFlightOffset = 3f;
220 public float maximumMassObject = 10000.01f; 218 public float maximumMassObject = 10000.01f;
221 219
222 220 public float geomDefaultDensity = 10.0f;
223 public float geomDefaultDensity = 10.000006836f;
224 221
225 public float bodyPIDD = 35f; 222 public float bodyPIDD = 35f;
226 public float bodyPIDG = 25; 223 public float bodyPIDG = 25;
@@ -243,17 +240,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
243 private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>(); 240 private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
244 241
245 private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>(); 242 private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
246// public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
247 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>(); 243 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
248 244
249 private float contactsurfacelayer = 0.001f; 245 private float contactsurfacelayer = 0.002f;
250 246
251 private int contactsPerCollision = 80; 247 private int contactsPerCollision = 80;
252 internal IntPtr ContactgeomsArray = IntPtr.Zero; 248 internal IntPtr ContactgeomsArray = IntPtr.Zero;
253 private IntPtr GlobalContactsArray = IntPtr.Zero; 249 private IntPtr GlobalContactsArray = IntPtr.Zero;
254 private d.Contact SharedTmpcontact = new d.Contact(); 250 private d.Contact SharedTmpcontact = new d.Contact();
255 251
256 const int maxContactsbeforedeath = 4000; 252 const int maxContactsbeforedeath = 6000;
257 private volatile int m_global_contactcount = 0; 253 private volatile int m_global_contactcount = 0;
258 254
259 private IntPtr contactgroup; 255 private IntPtr contactgroup;
@@ -271,7 +267,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
271 267
272 public IntPtr world; 268 public IntPtr world;
273 269
274
275 // split the spaces acording to contents type 270 // split the spaces acording to contents type
276 // ActiveSpace contains characters and active prims 271 // ActiveSpace contains characters and active prims
277 // StaticSpace contains land and other that is mostly static in enviroment 272 // StaticSpace contains land and other that is mostly static in enviroment
@@ -347,14 +342,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
347 (float)m_frameWorkScene.RegionInfo.RegionSettings.WaterHeight); 342 (float)m_frameWorkScene.RegionInfo.RegionSettings.WaterHeight);
348 } 343 }
349 344
350 // core hack this just means all modules where loaded
351 // so now we can look for dependencies
352 public void RegionLoaded() 345 public void RegionLoaded()
353 { 346 {
354 mesher = m_frameWorkScene.RequestModuleInterface<IMesher>(); 347 mesher = m_frameWorkScene.RequestModuleInterface<IMesher>();
355 if (mesher == null) 348 if (mesher == null)
356 { 349 {
357 m_log.WarnFormat("[ubOde] No mesher. module disabled"); 350 m_log.ErrorFormat("[ubOde] No mesher. module disabled");
358 return; 351 return;
359 } 352 }
360 353
@@ -453,7 +446,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
453 } 446 }
454 447
455 448
456 // checkThread(); 449 // checkThread();
457 450
458 451
459 // Defaults 452 // Defaults
@@ -517,7 +510,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
517 odetimestepMS = (int)(1000.0f * ODE_STEPSIZE + 0.5f); 510 odetimestepMS = (int)(1000.0f * ODE_STEPSIZE + 0.5f);
518 511
519 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf); 512 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
520 GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf); 513 GlobalContactsArray = Marshal.AllocHGlobal((maxContactsbeforedeath + 100) * d.Contact.unmanagedSizeOf);
521 514
522 SharedTmpcontact.geom.g1 = IntPtr.Zero; 515 SharedTmpcontact.geom.g1 = IntPtr.Zero;
523 SharedTmpcontact.geom.g2 = IntPtr.Zero; 516 SharedTmpcontact.geom.g2 = IntPtr.Zero;
@@ -1155,49 +1148,43 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1155 aprim.CollisionScore = 0; 1148 aprim.CollisionScore = 0;
1156 aprim.IsColliding = false; 1149 aprim.IsColliding = false;
1157 } 1150 }
1158 }
1159 1151
1160 // collide active prims with static enviroment
1161 lock (_activegroups)
1162 {
1163 try 1152 try
1164 { 1153 {
1165 foreach (OdePrim prm in _activegroups) 1154 foreach (OdePrim aprim in _activeprims)
1166 { 1155 {
1167 if (!prm.m_outbounds) 1156 if(d.BodyIsEnabled(aprim.Body))
1168 { 1157 {
1169 if (d.BodyIsEnabled(prm.Body)) 1158 d.SpaceCollide2(StaticSpace, aprim.collide_geom, IntPtr.Zero, nearCallback);
1170 { 1159 d.SpaceCollide2(GroundSpace, aprim.collide_geom, IntPtr.Zero, nearCallback);
1171 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1172 d.SpaceCollide2(GroundSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1173 }
1174 } 1160 }
1175 } 1161 }
1176 } 1162 }
1177 catch (AccessViolationException) 1163 catch (Exception e)
1178 { 1164 {
1179 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space"); 1165 m_log.Warn("[PHYSICS]: Unable to collide Active to Static: " + e.Message);
1180 } 1166 }
1181 } 1167 }
1168
1182 // colide active amoung them 1169 // colide active amoung them
1183 try 1170 try
1184 { 1171 {
1185 d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback); 1172 d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
1186 } 1173 }
1187 catch (AccessViolationException) 1174 catch (Exception e)
1188 { 1175 {
1189 m_log.Warn("[PHYSICS]: Unable to collide Active with Characters space"); 1176 m_log.Warn("[PHYSICS]: Unable to collide in Active: " + e.Message);
1190 } 1177 }
1178
1191 // and with chars 1179 // and with chars
1192 try 1180 try
1193 { 1181 {
1194 d.SpaceCollide2(CharsSpace,ActiveSpace, IntPtr.Zero, nearCallback); 1182 d.SpaceCollide2(CharsSpace,ActiveSpace, IntPtr.Zero, nearCallback);
1195 } 1183 }
1196 catch (AccessViolationException) 1184 catch (Exception e)
1197 { 1185 {
1198 m_log.Warn("[PHYSICS]: Unable to collide in Active space"); 1186 m_log.Warn("[PHYSICS]: Unable to collide Active to Character: " + e.Message);
1199 } 1187 }
1200 // _perloopContact.Clear();
1201 } 1188 }
1202 1189
1203 #endregion 1190 #endregion
@@ -1583,11 +1570,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1583 /// </summary> 1570 /// </summary>
1584 /// <param name="timeStep"></param> 1571 /// <param name="timeStep"></param>
1585 /// <returns></returns> 1572 /// <returns></returns>
1586 public override float Simulate(float timeStep) 1573 public override float Simulate(float reqTimeStep)
1587 { 1574 {
1588 DateTime now = DateTime.UtcNow; 1575 DateTime now = DateTime.UtcNow;
1589 TimeSpan timedif = now - m_lastframe; 1576 TimeSpan timedif = now - m_lastframe;
1590 timeStep = (float)timedif.TotalSeconds; 1577 float timeStep = (float)timedif.TotalSeconds;
1591 m_lastframe = now; 1578 m_lastframe = now;
1592 1579
1593 // acumulate time so we can reduce error 1580 // acumulate time so we can reduce error
@@ -1601,16 +1588,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1601 1588
1602 framecount++; 1589 framecount++;
1603 1590
1604// int curphysiteractions;
1605
1606 // if in trouble reduce step resolution
1607// if (step_time >= m_SkipFramesAtms)
1608// curphysiteractions = m_physicsiterations / 2;
1609// else
1610// curphysiteractions = m_physicsiterations;
1611
1612// checkThread(); 1591// checkThread();
1613 int nodeframes = 0; 1592 int nodeframes = 0;
1593 float fps = 0;
1614 1594
1615 lock (SimulationLock) 1595 lock (SimulationLock)
1616 lock(OdeLock) 1596 lock(OdeLock)
@@ -1627,8 +1607,36 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1627 1607
1628 int loopstartMS = Util.EnvironmentTickCount(); 1608 int loopstartMS = Util.EnvironmentTickCount();
1629 int looptimeMS = 0; 1609 int looptimeMS = 0;
1630 1610 int changestimeMS = 0;
1611 int maxChangestime = (int)(reqTimeStep * 500f); // half the time
1612 int maxLoopTime = (int)(reqTimeStep * 1200f); // 1.2 the time
1613
1614 if (ChangesQueue.Count > 0)
1615 {
1616 while (ChangesQueue.Dequeue(out item))
1617 {
1618 if (item.actor != null)
1619 {
1620 try
1621 {
1622 if (item.actor is OdeCharacter)
1623 ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
1624 else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
1625 RemovePrimThreadLocked((OdePrim)item.actor);
1626 }
1627 catch
1628 {
1629 m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}",
1630 item.actor.Name, item.what.ToString());
1631 }
1632 }
1633 changestimeMS = Util.EnvironmentTickCountSubtract(loopstartMS);
1634 if (changestimeMS > maxChangestime)
1635 break;
1636 }
1637 }
1631 1638
1639 // do simulation taking at most 150ms total time including changes
1632 while (step_time > HalfOdeStep) 1640 while (step_time > HalfOdeStep)
1633 { 1641 {
1634 try 1642 try
@@ -1636,32 +1644,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1636 // clear pointer/counter to contacts to pass into joints 1644 // clear pointer/counter to contacts to pass into joints
1637 m_global_contactcount = 0; 1645 m_global_contactcount = 0;
1638 1646
1639 if (ChangesQueue.Count > 0)
1640 {
1641 int changestartMS = Util.EnvironmentTickCount();
1642 int ttmp;
1643 while (ChangesQueue.Dequeue(out item))
1644 {
1645 if (item.actor != null)
1646 {
1647 try
1648 {
1649 if (item.actor is OdeCharacter)
1650 ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
1651 else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
1652 RemovePrimThreadLocked((OdePrim)item.actor);
1653 }
1654 catch
1655 {
1656 m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}",
1657 item.actor.Name, item.what.ToString());
1658 }
1659 }
1660 ttmp = Util.EnvironmentTickCountSubtract(changestartMS);
1661 if (ttmp > 20)
1662 break;
1663 }
1664 }
1665 1647
1666 // Move characters 1648 // Move characters
1667 lock (_characters) 1649 lock (_characters)
@@ -1727,7 +1709,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1727 1709
1728 // do a ode simulation step 1710 // do a ode simulation step
1729 d.WorldQuickStep(world, ODE_STEPSIZE); 1711 d.WorldQuickStep(world, ODE_STEPSIZE);
1730// d.WorldStep(world, ODE_STEPSIZE);
1731 d.JointGroupEmpty(contactgroup); 1712 d.JointGroupEmpty(contactgroup);
1732 1713
1733 // update managed ideia of physical data and do updates to core 1714 // update managed ideia of physical data and do updates to core
@@ -1770,7 +1751,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1770 nodeframes++; 1751 nodeframes++;
1771 1752
1772 looptimeMS = Util.EnvironmentTickCountSubtract(loopstartMS); 1753 looptimeMS = Util.EnvironmentTickCountSubtract(loopstartMS);
1773 if (looptimeMS > 100) 1754 if (looptimeMS > maxLoopTime)
1774 break; 1755 break;
1775 } 1756 }
1776 1757
@@ -1795,7 +1776,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1795 m_lastMeshExpire = now; 1776 m_lastMeshExpire = now;
1796 } 1777 }
1797 1778
1798// information block running in debug only 1779// information block for in debug breakpoint only
1799/* 1780/*
1800 int ntopactivegeoms = d.SpaceGetNumGeoms(ActiveSpace); 1781 int ntopactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
1801 int ntopstaticgeoms = d.SpaceGetNumGeoms(StaticSpace); 1782 int ntopstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
@@ -1857,21 +1838,26 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1857 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix); 1838 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
1858 } 1839 }
1859 1840
1860 // think time dilation as to do with dinamic step size that we dont' have 1841 fps = (float)nodeframes * ODE_STEPSIZE / reqTimeStep;
1861 // even so tell something to world 1842
1862 if (looptimeMS < 100) // we did the requested loops 1843 if(step_time < HalfOdeStep)
1863 m_timeDilation = 1.0f; 1844 m_timeDilation = 1.0f;
1864 else if (step_time > 0) 1845 else if (step_time > m_SkipFramesAtms)
1865 { 1846 {
1866 m_timeDilation = timeStep / step_time; 1847 // if we lag too much skip frames
1848 m_timeDilation = 0.0f;
1849 step_time = 0;
1850 m_lastframe = DateTime.UtcNow; // skip also the time lost
1851 }
1852 else
1853 {
1854 m_timeDilation = ODE_STEPSIZE / step_time;
1867 if (m_timeDilation > 1) 1855 if (m_timeDilation > 1)
1868 m_timeDilation = 1; 1856 m_timeDilation = 1;
1869 if (step_time > m_SkipFramesAtms)
1870 step_time = 0;
1871 m_lastframe = DateTime.UtcNow; // skip also the time lost
1872 } 1857 }
1873 } 1858 }
1874 return (float)nodeframes * ODE_STEPSIZE / timeStep; 1859
1860 return fps;
1875 } 1861 }
1876 1862
1877 /// <summary> 1863 /// <summary>
@@ -2442,12 +2428,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2442 2428
2443 public override void Dispose() 2429 public override void Dispose()
2444 { 2430 {
2445 if (m_rayCastManager == null) // if this is null we already did dispose
2446 return;
2447 lock (OdeLock) 2431 lock (OdeLock)
2448 { 2432 {
2433 if (world == IntPtr.Zero)
2434 return;
2435
2449 if (m_meshWorker != null) 2436 if (m_meshWorker != null)
2450 m_meshWorker.Stop(); 2437 m_meshWorker.Stop();
2451 2438
2452 if (m_rayCastManager != null) 2439 if (m_rayCastManager != null)
2453 { 2440 {
@@ -2484,7 +2471,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2484 d.GeomDestroy(GroundGeom); 2471 d.GeomDestroy(GroundGeom);
2485 } 2472 }
2486 2473
2487
2488 RegionTerrain.Clear(); 2474 RegionTerrain.Clear();
2489 2475
2490 if (TerrainHeightFieldHeightsHandlers.Count > 0) 2476 if (TerrainHeightFieldHeightsHandlers.Count > 0)
@@ -2500,10 +2486,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2500 TerrainHeightFieldHeights.Clear(); 2486 TerrainHeightFieldHeights.Clear();
2501 2487
2502 if (ContactgeomsArray != IntPtr.Zero) 2488 if (ContactgeomsArray != IntPtr.Zero)
2489 {
2503 Marshal.FreeHGlobal(ContactgeomsArray); 2490 Marshal.FreeHGlobal(ContactgeomsArray);
2491 ContactgeomsArray = IntPtr.Zero;
2492 }
2504 if (GlobalContactsArray != IntPtr.Zero) 2493 if (GlobalContactsArray != IntPtr.Zero)
2494 {
2505 Marshal.FreeHGlobal(GlobalContactsArray); 2495 Marshal.FreeHGlobal(GlobalContactsArray);
2506 2496 GlobalContactsArray = IntPtr.Zero;
2497 }
2507 2498
2508 d.WorldDestroy(world); 2499 d.WorldDestroy(world);
2509 world = IntPtr.Zero; 2500 world = IntPtr.Zero;